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More testing and cleanup.

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This commit is contained in:
jgoppert
2015-11-05 12:28:39 -05:00
parent 9d88b0d573
commit fd64e7e93a
10 changed files with 74 additions and 120 deletions
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matrix/Euler.hpp
+15 -2
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@@ -30,6 +30,16 @@ public:
{
}
Euler(const Vector<Type, 3> & other) :
Vector<Type, 3>(other)
{
}
Euler(const Matrix<Type, 3, 1> & other) :
Vector<Type, 3>(other)
{
}
Euler(Type phi_, Type theta_, Type psi_) : Vector<Type, 3>()
{
phi() = phi_;
@@ -37,7 +47,8 @@ public:
psi() = psi_;
}
Euler(const Dcm<Type> & dcm) {
Euler(const Dcm<Type> & dcm) : Vector<Type, 3>()
{
theta() = Type(asin(-dcm(2, 0)));
if (fabs(theta() - M_PI_2) < 1.0e-3) {
@@ -54,7 +65,9 @@ public:
}
}
Euler(const Quaternion<Type> & q) {
Euler(const Quaternion<Type> & q) :
Vector<Type, 3>()
{
*this = Euler(Dcm<Type>(q));
}